人工筋肉ストランド筋アクチュエータを使用したパワーアシスト装置の考案

Abstract

Various power assist devices have been developed using artificial muscles. But most of them are too expensive and too heavy for practical use. The goal of this work is to develop a power assist device using strand muscle actuator, which is an artificial-muscle-type actuator. The actuator is compact, lightweight and can change muscle length easily. These characteristics make the assist device using this actuator easy to use for people of varied body shapes and sizes. In this article the result of the experiment to assist knee joint motion of an experimental leg model by use of a strand muscle actuator is shown. And then the assist effect by the strand muscle actuator is verified.